更新BT扩展算法的合并算法
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Caiyishuai
parent
9322bd1c7c
commit
ffab81b2f4
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@ -19,12 +19,12 @@ class Bahavior(ptree.behaviour.Behaviour):
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'Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk','VacuumCup',
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'Chips', 'NFCJuice', 'Bernachon', 'ADMilk', 'SpringWater'}
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tables_for_guiding = {"QuietTable1","QuietTable2",
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"BrightTable1","BrightTable2","BrightTable3","BrightTable4","BrightTable5","BrightTable6"
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"BrightTable1","BrightTable2","BrightTable3","BrightTable4","BrightTable5","BrightTable6",
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'CoffeeTable','WaterTable','Table1', 'Table2', 'Table3'}
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# tables_for_placement = {'Bar', 'WaterTable', 'CoffeeTable'}
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# all_object = {'Coffee', 'Water', 'Dessert', 'Softdrink', 'Yogurt'}
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# tables_for_placement = {'Bar', 'CoffeeTable', 'Table2',"BrightTable6", 'WaterTable'}
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# all_object = {'Coffee'}
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num_of_obj_on_place={
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@ -21,7 +21,7 @@ class MoveTo(Act):
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info['pre'] |= {f'Exist({arg})'}
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info["add"] = {f'At(Robot,{arg})'}
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info["del_set"] = {f'At(Robot,{place})' for place in cls.valid_args if place != arg}
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info['cost'] = 5
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info['cost'] = 10
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# if arg!='Anything':
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# info['cost']=5
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# else:
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@ -18,7 +18,7 @@ class PickUp(Act):
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info = {}
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info["pre"] = {f'At(Robot,{arg})','Holding(Nothing)'}
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info["add"] = {f'Holding({arg})'}
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info["del_set"] = {f'Holding(Nothing)'}
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info["del_set"] = {f'Holding(Nothing)',f'Exist({arg})'} #,
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for place in cls.valid_args:
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info["del_set"] |= {f'On({arg},{place})'}
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info['cost'] = 2
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@ -84,6 +84,7 @@ class OptBTExpAlgorithm:
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self.conditions_index=[]
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self.verbose=verbose
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self.goal=None
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self.bt_merge = True
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def clear(self):
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self.bt = None
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@ -169,7 +170,8 @@ class OptBTExpAlgorithm:
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# 增加实时条件判断，满足条件就不再扩展
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# if c <= self.scene.state["condition_set"]:
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if c <= start:
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self.merge_adjacent_conditions_stack()
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if self.bt_merge:
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self.merge_adjacent_conditions_stack()
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return True
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else:
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subtree.add_child([copy.deepcopy(pair_node.act_leaf)])
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@ -215,12 +217,96 @@ class OptBTExpAlgorithm:
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# 把符合条件的动作节点都放到列表里
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if self.verbose:
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print("———— -- %s 符合条件放入列表,对应的c为 %s" % (actions[i].name,c_attr))
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self.merge_adjacent_conditions_stack()
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if self.bt_merge:
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self.merge_adjacent_conditions_stack()
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if self.verbose:
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print("算法结束！\n")
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return True
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def merge_adjacent_conditions_stack(self):
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# 只针对第一层合并，之后要考虑层层递归合并
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bt = ControlBT(type='cond')
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sbtree = ControlBT(type='?')
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gc_node = Leaf(type='cond', content=self.goal, mincost=0) # 为了统一，都成对出现
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sbtree.add_child([copy.deepcopy(gc_node)]) # 子树首先保留所扩展结
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bt.add_child([sbtree])
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parnode = copy.deepcopy(self.bt.children[0])
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stack=[]
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for child in parnode.children:
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if isinstance(child, ControlBT) and child.type == '>':
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if stack==[]:
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stack.append(child)
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continue
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# 检查合并的条件，前面一个的条件包含了后面的条件，把包含部分提取出来
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last_child = stack[-1]
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set1 = last_child.children[0].content
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set2 = child.children[0].content
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# 如果后面的动作和前面的一样,删掉前面的
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# 应该是两棵子树完全相同的情况，先暂时只判断动作
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if set1>=set2 or set1<=set2:
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if isinstance(last_child.children[1], Leaf) and isinstance(child.children[1], Leaf): # 将来这些地方都写成递归的
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if last_child.children[1].content.name == child.children[1].content.name: # a1=a2
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stack.pop()
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stack.append(child)
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continue
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inter = set1 & set2
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if inter!=set():
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c1 = set1-set2
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c2 = set2-set1
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if c1!=set():
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seq1 = ControlBT(type='>')
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c1 = Leaf(type='cond', content=c1)
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a1 = copy.deepcopy(last_child.children[1])
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seq1.add_child(
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[copy.deepcopy(c1), copy.deepcopy(a1)])
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else:
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seq1 = copy.deepcopy(last_child.children[1])
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if c2!=set():
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seq2 = ControlBT(type='>')
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c2 = Leaf(type='cond', content=c2)
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a2 = copy.deepcopy(child.children[1])
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seq2.add_child(
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[copy.deepcopy(c2), copy.deepcopy(a2)])
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else:
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seq2 = copy.deepcopy(child.children[1])
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sel = ControlBT(type='?')
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if isinstance(last_child.children[1], Leaf) and isinstance(child.children[1], Leaf) \
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and last_child.children[1].content.name == child.children[1].content.name: # a1=a2
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# 第三次优化合并
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# 将来这些地方都写成递归的
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sel.add_child([copy.deepcopy(c1), copy.deepcopy(c2),copy.deepcopy(last_child.children[1])])
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else:
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sel.add_child([copy.deepcopy(seq1), copy.deepcopy(seq2)])
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tmp_tree = ControlBT(type='>')
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c1 = Leaf(type='cond', content=inter)
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tmp_tree.add_child(
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[copy.deepcopy(c1), copy.deepcopy(sel)])
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stack.pop()
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stack.append(tmp_tree)
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else:
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stack.append(child)
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for tree in stack:
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sbtree.add_child([tree])
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self.bt = copy.deepcopy(bt)
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def merge_adjacent_conditions_stack_old(self):
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# 递归合并
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bt = ControlBT(type='cond')
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sbtree = ControlBT(type='?')
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@ -274,7 +360,6 @@ class OptBTExpAlgorithm:
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sbtree.add_child([tree])
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self.bt = copy.deepcopy(bt)
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def merge_cond_node(self):
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# bt合并====================================================
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bt = ControlBT(type='cond')
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@ -254,6 +254,27 @@ create_sub_task
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create_sub_task
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{"goal":"On(Dessert,Bar)"}
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把咖啡放到吧台上
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好的
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create_sub_task
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{"goal":"On(Coffee,Bar)"}
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把咖啡放到水桌
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好的
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create_sub_task
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{"goal":"On(Coffee,Bar)"}
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把咖啡放到6号桌
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好的
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create_sub_task
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{"goal":"On(Coffee,BrightTable6)"}
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把咖啡放到吧台上，再拿一杯咖啡放到6号桌
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好的
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create_sub_task
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{"goal":"On(Coffee,WaterTable),On(Coffee,BrightTable6)"}
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打开空调并降低空调温度
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好的，没问题
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create_sub_task
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@ -19,7 +19,8 @@ def single_round(question, prefix=""):
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"messages": [
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{
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"role": "system",
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"content": "你是一个机器人服务员：RoboWaiter. 你的职责是为顾客提供对话及具身服务。"
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# "content": "你是一个机器人服务员：RoboWaiter. 你的职责是为顾客提供对话及具身服务。"
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"content": ""
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# "content":
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# """
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# 你是一个熟悉行为树的工程师，你的职责是根据用户需求，为一个人型的机器人设计完成用户需求的行为树序列。
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@ -46,10 +47,165 @@ def single_round(question, prefix=""):
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if __name__ == '__main__':
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question = '''
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嘿！能做一杯咖啡吗？咖啡就行！
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from actions import MoveTo (<obj>/<place>), PickUp (<obj>), PutDown (<obj>,<place>), PutDown(Anything,Anywhere), Make (<obj2>), Clean (<obj3>), Turn (<obj4>,<obj4state>)
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from states import At (Robor,<obj>/<place>), On (<obj>,<place>), Holding (<obj>), Is (<obj4>,<obj4state>), Exist (<obj>)
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obj=['Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk','VacuumCup','Chips', 'NFCJuice', 'Bernachon', 'ADMilk', 'SpringWater']
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place=['Bar', 'Bar2', 'WaterTable', 'CoffeeTable', 'Table1', 'Table2', 'Table3','BrightTable6']
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obj2=['Coffee', 'Water', 'Dessert']
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obj3=['Table1','Floor','Chairs']
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obj4=['AC','TubeLight','HallLight','Curtain','ACTemperature']
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obj4state=['On','Off','Up','Down']
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currents_state={'At(Robot,Bar)', 'Is(AC,Off)',
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'Exist(Yogurt)', 'Exist(BottledDrink)','Exist(Softdrink)','Exist(VacuumCup)',
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'Holding(Coffee)',
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'On(VacuumCup,Table2)', 'On(Yogurt,Bar)', 'On(BottledDrink,Bar)', 'On(Softdrink,Table1)',
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'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
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'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}
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def Put_SoftDrink_on_WaterTable(currents_state):
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selector
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cond On(Softdrink,WaterTable)
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sequence
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cond Holding(Softdrink)
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selector
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sequence
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cond At(Robot,WaterTable)
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act PutDown(Softdrink,WaterTable)
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act MoveTo(WaterTable)
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sequence
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cond At(Robot,Softdrink)
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selector
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sequence
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cond Holding(Nothing)
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act PickUp(Softdrink)
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act PutDown(Anything,Anywhere)
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sequence
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cond Exist(Softdrink)
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act MoveTo(Softdrink)
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currents_state={'At(Robot,Bar)', 'Is(AC,On)',
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'Exist(Yogurt)', 'Exist(BottledDrink)',
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'Exist(Chips)', 'Exist(VacuumCup)', 'Exist(ADMilk)',
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'Holding(Nothing)',
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'On(VacuumCup,Table2)', 'On(Chips,Bar)','On(ADMilk,Bar)',
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'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
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'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}
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def Put_Dessert_on_Bar(currents_state):
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selector
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cond On(Dessert,Bar)
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sequence
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cond Holding(Nothing)
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act Make(Dessert)
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currents_state={'At(Robot,Bar)', 'Is(AC,Off)',
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'Exist(VacuumCup)','Exist(Coffee)',
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'On(VacuumCup,Table2)', 'On(Coffee,CoffeeTable)',
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'Holding(Nothing)',
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'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
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'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}
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def Put_Coffee_on_Bar(currents_state):
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selector
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cond On(Coffee,Bar)
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sequence
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cond Holding(Coffee)
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selector
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sequence
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cond At(Robot,Bar)
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act PutDown(Coffee,Bar)
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act MoveTo(Bar)
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sequence
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cond At(Robot,Coffee)
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selector
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sequence
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cond Holding(Nothing)
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act PickUp(Coffee)
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act PutDown(Anything,Anywhere)
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sequence
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cond Exist(Coffee)
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cond Holding(Nothing)
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act MoveTo(Coffee)
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currents_state={'At(Robot,Bar)', 'Is(AC,Off)',
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'Exist(VacuumCup)', 'Exist(Yogurt)',
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'On(VacuumCup,Table2)',
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'Holding(Yogurt)',
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'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
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'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}
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def Put_Coffee_on_Bar(currents_state):
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selector
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cond On(Coffee,Bar)
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sequence
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cond Holding(Coffee)
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selector
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sequence
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cond At(Robot,Bar)
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act PutDown(Coffee,Bar)
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act MoveTo(Bar)
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sequence
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cond At(Robot,Coffee)
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selector
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sequence
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cond Holding(Nothing)
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act PickUp(Coffee)
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act PutDown(Anything,Anywhere)
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sequence
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cond Exist(Coffee)
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act MoveTo(Coffee)
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sequence
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cond Holding(Nothing)
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act Make(Coffee)
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sequence
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cond At(Robot,Bar)
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cond Holding(Yogurt)
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act PutDown(Yogurt,Bar)
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currents_state={'At(Robot,Bar)', 'Is(AC,Off)',
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'Exist(Yogurt)', 'Exist(BottledDrink)','Exist(Softdrink)',
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'Exist(Chips)', 'Exist(NFCJuice)', 'Exist(Bernachon)', 'Exist(ADMilk)', 'Exist(SpringWater)',
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'Holding(Softdrink)',
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'Exist(VacuumCup)', 'On(VacuumCup,Table2)',
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'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
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'Is(Table1,Clean)', 'Is(Floor,Clean)', 'Is(Chairs,Clean)'}
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def Turn_AC_Temperature_Down(currents_state):
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selector
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cond Is(ACTemperature,Down)
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sequence
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cond Is(AC,On)
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selector
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sequence
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cond Holding(Nothing)
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act Turn(ACTemperature,Down)
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act PutDown(Anything,Anywhere)
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sequence
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cond Is(AC,Off)
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selector
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sequence
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cond Holding(Nothing)
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act Turn(AC,On)
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act PutDown(Anything,Anywhere)
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currents_state={'At(Robot,Bar)', 'Is(AC,Off)',
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'Exist(Yogurt)','Exist(VacuumCup)','Exist(Coffee)',
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'Holding(Nothing)',
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'On(Yogurt,Bar)','On(VacuumCup,Table2)','On(Coffee,CoffeeTable)',
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'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
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'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}
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def Put_one_Coffee_on_WaterTable_and_Put_another_Coffee_on_BrightTable6
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(currents_state):
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Please write the content of this function based on the content of currents_state
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Please write the content of this function based on the content of currents_state
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'''
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import timeit
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cur_time = time.time()
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print(single_round(question, prefix='现在给出符合这句话要求的目标状态: '))
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print(single_round(question))
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# print(single_round(question, prefix='现在给出符合这句话要求的目标状态: '))
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print(f"单次生成耗时：{time.time() - cur_time} s \n")
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@ -214,19 +214,39 @@ class Scene:
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"chat_list": [], # 未处理的顾客的对话, (顾客的位置,顾客对话的内容)
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"sub_goal_list": [], # 子目标列表
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"status": None, # 仿真器中的观测信息，见下方详细解释
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# "condition_set": {'At(Robot,Bar)', 'Is(AC,Off)',
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# 'Exist(Yogurt)', 'Exist(BottledDrink)','Exist(Softdrink)',
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# # 'On(Yogurt,Bar)','On(BottledDrink,Bar)',
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# # 'Exist(Softdrink)', 'On(Softdrink,Table1)',
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# 'Exist(Chips)', 'Exist(NFCJuice)', 'Exist(Bernachon)', 'Exist(ADMilk)', 'Exist(SpringWater)'
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# 'Holding(Nothing)',
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# # 'Holding(Yogurt)',
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# 'Exist(VacuumCup)', 'On(VacuumCup,Table2)',
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# 'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
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# 'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'},
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"condition_set": {'At(Robot,Bar)', 'Is(AC,Off)',
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'Exist(Yogurt)', 'Exist(BottledDrink)','Exist(Softdrink)',
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# 'On(Yogurt,Bar)','On(BottledDrink,Bar)',
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# 'Exist(Softdrink)', 'On(Softdrink,Table1)',
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'Exist(Chips)', 'Exist(NFCJuice)', 'Exist(Bernachon)', 'Exist(ADMilk)', 'Exist(SpringWater)',
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'Exist(Yogurt)','Exist(VacuumCup)',
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'Holding(Nothing)',
|
||||
'On(Yogurt,Bar)','On(VacuumCup,Table2)',
|
||||
'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
|
||||
'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'},
|
||||
|
||||
# 'Holding(Nothing)',
|
||||
'Holding(Coffee)',
|
||||
# "condition_set": {'At(Robot,Bar)', 'Is(AC,Off)',
|
||||
# 'Exist(VacuumCup)','Exist(Coffee)',
|
||||
# 'On(VacuumCup,Table2)', 'On(Coffee,CoffeeTable)',
|
||||
# 'Holding(Nothing)',
|
||||
# 'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
|
||||
# 'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'},
|
||||
|
||||
'Exist(VacuumCup)', 'On(VacuumCup,Table2)',
|
||||
'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
|
||||
'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'},
|
||||
"obj_mem": {},
|
||||
# "condition_set": {'At(Robot,Bar)', 'Is(AC,Off)',
|
||||
# 'Exist(Yogurt)', 'Exist(VacuumCup)', 'Exist(Coffee)',
|
||||
# 'Holding(Nothing)',
|
||||
# 'On(Yogurt,Bar)', 'On(VacuumCup,Table2)', 'On(Coffee,CoffeeTable)',
|
||||
# 'Is(HallLight,Off)', 'Is(TubeLight,On)',
|
||||
# 'Is(Curtain,On)',
|
||||
# 'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'},
|
||||
"obj_mem": {},
|
||||
"customer_mem": {},
|
||||
"served_mem": {},
|
||||
"greeted_customers": set(),
|
||||
|
|
@ -274,7 +294,7 @@ class Scene:
|
|||
|
||||
self.is_nav_walk = False
|
||||
|
||||
self.bt_algo_opt = False
|
||||
self.bt_algo_opt = True
|
||||
|
||||
file_name = os.path.join(root_path,'robowaiter/algos/navigator/map_5.pkl')
|
||||
if os.path.exists(file_name):
|
||||
|
|
|
|||
|
|
@ -1,23 +1,30 @@
|
|||
selector
|
||||
sequence
|
||||
cond Chatting()
|
||||
act DealChat()
|
||||
sequence
|
||||
cond HasSubTask()
|
||||
selector
|
||||
|
||||
sequence
|
||||
act SubTaskPlaceHolder()
|
||||
sequence
|
||||
cond FocusingCustomer()
|
||||
act ServeCustomer()
|
||||
sequence
|
||||
cond NewCustomer()
|
||||
selector
|
||||
cond At(Robot,Bar)
|
||||
act MoveTo(Bar)
|
||||
act GreetCustomer()
|
||||
sequence
|
||||
cond NeedExplore()
|
||||
act ExploreEnv()
|
||||
sequence
|
||||
cond AnomalyDetected()
|
||||
act ResolveAnomaly()
|
||||
cond At(Robot, Coffee)
|
||||
selector
|
||||
sequence
|
||||
cond Holding(Nothing)
|
||||
act PickUp(Coffee)
|
||||
act PutDown(Anything, Anywhere)
|
||||
selector
|
||||
sequence
|
||||
cond Holding(Coffee)
|
||||
cond At(Robot, WaterTable)
|
||||
act PutDown(Coffee, WaterTable)
|
||||
act MoveTo(WaterTable)
|
||||
|
||||
|
||||
sequence
|
||||
cond At(Robot, Coffee)
|
||||
selector
|
||||
sequence
|
||||
cond Holding(Nothing)
|
||||
act PickUp(Coffee)
|
||||
act PutDown(Anything, Anywhere)
|
||||
selector
|
||||
sequence
|
||||
cond Holding(Coffee)
|
||||
cond At(Robot, BrightTable6)
|
||||
act PutDown(Coffee, BrightTable6)
|
||||
act MoveTo(BrightTable6)
|
||||
|
|
|
|||
|
|
@ -2,32 +2,38 @@ selector
|
|||
{
|
||||
sequence
|
||||
{
|
||||
cond Chatting()
|
||||
act DealChat()
|
||||
} sequence
|
||||
{
|
||||
cond HasSubTask()
|
||||
sequence
|
||||
{
|
||||
act SubTaskPlaceHolder()
|
||||
} } sequence
|
||||
{
|
||||
cond FocusingCustomer()
|
||||
act ServeCustomer()
|
||||
} sequence
|
||||
{
|
||||
cond NewCustomer()
|
||||
cond At(Robot, Coffee)
|
||||
selector
|
||||
{
|
||||
cond At(Robot,Bar)
|
||||
act MoveTo(Bar)
|
||||
} act GreetCustomer()
|
||||
} sequence
|
||||
sequence
|
||||
{
|
||||
cond NeedExplore()
|
||||
act ExploreEnv()
|
||||
} sequence
|
||||
cond Holding(Nothing)
|
||||
act PickUp(Coffee)
|
||||
} act PutDown(Anything, Anywhere)
|
||||
} selector
|
||||
{
|
||||
cond AnomalyDetected()
|
||||
act ResolveAnomaly()
|
||||
}}
|
||||
sequence
|
||||
{
|
||||
cond Holding(Coffee)
|
||||
cond At(Robot, WaterTable)
|
||||
act PutDown(Coffee, WaterTable)
|
||||
} act MoveTo(WaterTable)
|
||||
} } sequence
|
||||
{
|
||||
cond At(Robot, Coffee)
|
||||
selector
|
||||
{
|
||||
sequence
|
||||
{
|
||||
cond Holding(Nothing)
|
||||
act PickUp(Coffee)
|
||||
} act PutDown(Anything, Anywhere)
|
||||
} selector
|
||||
{
|
||||
sequence
|
||||
{
|
||||
cond Holding(Coffee)
|
||||
cond At(Robot, BrightTable6)
|
||||
act PutDown(Coffee, BrightTable6)
|
||||
} act MoveTo(BrightTable6)
|
||||
} }}
|
||||
|
|
@ -16,5 +16,5 @@ if __name__ == '__main__':
|
|||
|
||||
|
||||
|
||||
render_dot_tree(bt.root,name="test")
|
||||
render_dot_tree(bt.root,name="test",png_only = False)
|
||||
# build and tick
|
||||
|
|
|
|||
|
|
@ -3,19 +3,57 @@ ordering=out;
|
|||
graph [fontname="times-roman"];
|
||||
node [fontname="times-roman"];
|
||||
edge [fontname="times-roman"];
|
||||
"c9a8671e-b0b8-4587-a4de-a094fd678334" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Selector, shape=octagon, style=filled, width=0.01];
|
||||
"bc597ff6-b3cb-4573-9dea-944fdb38d045" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
|
||||
"c9a8671e-b0b8-4587-a4de-a094fd678334" -> "bc597ff6-b3cb-4573-9dea-944fdb38d045";
|
||||
"a8e26121-f5cc-4ba5-b98e-86bd84de06d6" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
|
||||
"c9a8671e-b0b8-4587-a4de-a094fd678334" -> "a8e26121-f5cc-4ba5-b98e-86bd84de06d6";
|
||||
"676d8bda-2c30-44a5-bca2-ade68761403a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(Curtain,Off)", shape=ellipse, style=filled];
|
||||
"a8e26121-f5cc-4ba5-b98e-86bd84de06d6" -> "676d8bda-2c30-44a5-bca2-ade68761403a";
|
||||
"c3d096cf-f848-46a3-9497-5398614798e8" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Turn(Curtain,On)", shape=box, style=filled];
|
||||
"a8e26121-f5cc-4ba5-b98e-86bd84de06d6" -> "c3d096cf-f848-46a3-9497-5398614798e8";
|
||||
"400b4104-ff96-4d64-89b2-49dc6e4e3cbd" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
|
||||
"c9a8671e-b0b8-4587-a4de-a094fd678334" -> "400b4104-ff96-4d64-89b2-49dc6e4e3cbd";
|
||||
"3fc48afc-1cef-45f5-826d-2571d7979a2f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(AC,Off)", shape=ellipse, style=filled];
|
||||
"400b4104-ff96-4d64-89b2-49dc6e4e3cbd" -> "3fc48afc-1cef-45f5-826d-2571d7979a2f";
|
||||
"47af4df0-8811-45a5-95e2-f0fc9458ddfd" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Turn(AC,On)", shape=box, style=filled];
|
||||
"400b4104-ff96-4d64-89b2-49dc6e4e3cbd" -> "47af4df0-8811-45a5-95e2-f0fc9458ddfd";
|
||||
"c681805a-96e1-4a3d-a38d-0bfca162692b" [fillcolor=cyan, fontcolor=black, fontsize=20, height=0.01, label=Selector, shape=diamond, style=filled, width=0.01];
|
||||
"e878636e-ab91-45b3-8d25-1712a9b919ab" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
|
||||
"c681805a-96e1-4a3d-a38d-0bfca162692b" -> "e878636e-ab91-45b3-8d25-1712a9b919ab";
|
||||
"e88e510b-5495-4aa1-95cd-f95b3b4e50dc" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Coffee)", shape=ellipse, style=filled];
|
||||
"e878636e-ab91-45b3-8d25-1712a9b919ab" -> "e88e510b-5495-4aa1-95cd-f95b3b4e50dc";
|
||||
"292edbec-e8dc-44df-a80c-7dd5b6dd6692" [fillcolor=cyan, fontcolor=black, fontsize=20, height=0.01, label=Selector, shape=diamond, style=filled, width=0.01];
|
||||
"e878636e-ab91-45b3-8d25-1712a9b919ab" -> "292edbec-e8dc-44df-a80c-7dd5b6dd6692";
|
||||
"8d44bfa1-3a4e-4ae7-94bb-25d70caf0b4b" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
|
||||
"292edbec-e8dc-44df-a80c-7dd5b6dd6692" -> "8d44bfa1-3a4e-4ae7-94bb-25d70caf0b4b";
|
||||
"65f29fbc-02c3-4015-98bf-e71d16a78cbb" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
|
||||
"8d44bfa1-3a4e-4ae7-94bb-25d70caf0b4b" -> "65f29fbc-02c3-4015-98bf-e71d16a78cbb";
|
||||
"c503211c-ab75-4671-a6ca-2f66518be485" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PickUp(Coffee)", shape=box, style=filled];
|
||||
"8d44bfa1-3a4e-4ae7-94bb-25d70caf0b4b" -> "c503211c-ab75-4671-a6ca-2f66518be485";
|
||||
"27760c0d-aa85-437c-ac87-564d573f6d3d" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled];
|
||||
"292edbec-e8dc-44df-a80c-7dd5b6dd6692" -> "27760c0d-aa85-437c-ac87-564d573f6d3d";
|
||||
"94f578bf-0c4b-4614-aacc-d73ca0996d2c" [fillcolor=cyan, fontcolor=black, fontsize=20, height=0.01, label=Selector, shape=diamond, style=filled, width=0.01];
|
||||
"e878636e-ab91-45b3-8d25-1712a9b919ab" -> "94f578bf-0c4b-4614-aacc-d73ca0996d2c";
|
||||
"5a162890-11de-41d8-9954-ba17ccf166c4" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
|
||||
"94f578bf-0c4b-4614-aacc-d73ca0996d2c" -> "5a162890-11de-41d8-9954-ba17ccf166c4";
|
||||
"296bae80-a542-4fde-87b9-b030340caa1d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled];
|
||||
"5a162890-11de-41d8-9954-ba17ccf166c4" -> "296bae80-a542-4fde-87b9-b030340caa1d";
|
||||
"cba60b1e-308f-4f5a-939c-28bba802bca5" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled];
|
||||
"5a162890-11de-41d8-9954-ba17ccf166c4" -> "cba60b1e-308f-4f5a-939c-28bba802bca5";
|
||||
"93924025-e88f-47ec-90e4-c53bbc3df60e" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,WaterTable)", shape=box, style=filled];
|
||||
"5a162890-11de-41d8-9954-ba17ccf166c4" -> "93924025-e88f-47ec-90e4-c53bbc3df60e";
|
||||
"191ca7d5-a98c-429f-b040-66d210c30bdd" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="MoveTo(WaterTable)", shape=box, style=filled];
|
||||
"94f578bf-0c4b-4614-aacc-d73ca0996d2c" -> "191ca7d5-a98c-429f-b040-66d210c30bdd";
|
||||
"5461e129-ef05-4848-9107-2617c82b3566" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
|
||||
"c681805a-96e1-4a3d-a38d-0bfca162692b" -> "5461e129-ef05-4848-9107-2617c82b3566";
|
||||
"fd31940a-4e40-433d-8165-c9dd302fae62" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Coffee)", shape=ellipse, style=filled];
|
||||
"5461e129-ef05-4848-9107-2617c82b3566" -> "fd31940a-4e40-433d-8165-c9dd302fae62";
|
||||
"0a9876b0-1ff9-4f96-b7a8-8257a3928f62" [fillcolor=cyan, fontcolor=black, fontsize=20, height=0.01, label=Selector, shape=diamond, style=filled, width=0.01];
|
||||
"5461e129-ef05-4848-9107-2617c82b3566" -> "0a9876b0-1ff9-4f96-b7a8-8257a3928f62";
|
||||
"052d5a92-c6b4-483d-9cef-41745df61ff9" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
|
||||
"0a9876b0-1ff9-4f96-b7a8-8257a3928f62" -> "052d5a92-c6b4-483d-9cef-41745df61ff9";
|
||||
"c8462c00-d129-4eba-a0b4-ad6a819e34e8" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
|
||||
"052d5a92-c6b4-483d-9cef-41745df61ff9" -> "c8462c00-d129-4eba-a0b4-ad6a819e34e8";
|
||||
"5a944a18-ea71-4cbe-a04e-675d955b1b1f" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PickUp(Coffee)", shape=box, style=filled];
|
||||
"052d5a92-c6b4-483d-9cef-41745df61ff9" -> "5a944a18-ea71-4cbe-a04e-675d955b1b1f";
|
||||
"bfea3ed6-08c4-4fd3-9aa7-994f4be28953" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled];
|
||||
"0a9876b0-1ff9-4f96-b7a8-8257a3928f62" -> "bfea3ed6-08c4-4fd3-9aa7-994f4be28953";
|
||||
"c719600f-4033-418f-8608-5c808481d1aa" [fillcolor=cyan, fontcolor=black, fontsize=20, height=0.01, label=Selector, shape=diamond, style=filled, width=0.01];
|
||||
"5461e129-ef05-4848-9107-2617c82b3566" -> "c719600f-4033-418f-8608-5c808481d1aa";
|
||||
"c9d1af42-f394-4c52-9e7b-32d46487c708" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
|
||||
"c719600f-4033-418f-8608-5c808481d1aa" -> "c9d1af42-f394-4c52-9e7b-32d46487c708";
|
||||
"84ecc165-efa0-4747-8ce9-64bf6ac557a2" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled];
|
||||
"c9d1af42-f394-4c52-9e7b-32d46487c708" -> "84ecc165-efa0-4747-8ce9-64bf6ac557a2";
|
||||
"8d3d2c3f-1f52-4742-bb03-a02d578134de" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled];
|
||||
"c9d1af42-f394-4c52-9e7b-32d46487c708" -> "8d3d2c3f-1f52-4742-bb03-a02d578134de";
|
||||
"b5bcfc9e-f0ad-458b-ba99-19bae2fc6b12" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,BrightTable6)", shape=box, style=filled];
|
||||
"c9d1af42-f394-4c52-9e7b-32d46487c708" -> "b5bcfc9e-f0ad-458b-ba99-19bae2fc6b12";
|
||||
"5685125a-34f9-40cd-be0c-b7674970c01b" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="MoveTo(BrightTable6)", shape=box, style=filled];
|
||||
"c719600f-4033-418f-8608-5c808481d1aa" -> "5685125a-34f9-40cd-be0c-b7674970c01b";
|
||||
}
|
||||
|
|
|
|||
Binary file not shown.
|
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@ -4,100 +4,328 @@
|
|||
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||||
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Before Width: | Height: | Size: 7.1 KiB After Width: | Height: | Size: 24 KiB |
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@ -24,11 +24,17 @@ class SceneOT(Scene):
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# ]
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self.signal_event_list =[
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# (3, self.set_goal,("On(Yogurt,Bar)",)),
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(3, self.customer_say, ("System", "把盒装冰红茶放到水桌")),
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# (3, self.customer_say, ("System", "把盒装冰红茶放到水桌")),
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# (3, self.customer_say, ("System", "打开空调并降低空调温度")),
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# (3, self.customer_say, ("System", "点心")),
|
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# (3, self.customer_say, ("System", "把咖啡放到水桌")),
|
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# (3, self.customer_say, ("System", "把咖啡放到吧台上")),
|
||||
# (3, self.customer_say, ("System", "把咖啡放到吧台上，再拿一杯咖啡放到6号桌")),
|
||||
(3, self.customer_say, ("System", "把咖啡放到6号桌")),
|
||||
]
|
||||
|
||||
def _reset(self):
|
||||
self.gen_obj()
|
||||
scene = self.add_walkers([[0, 0], [250, 1200], [-55, 750], [70, -200]])
|
||||
pass
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue